NEW CONCEPTION OF OMNIDIRECTIONAL MOBILE ROBOT WITH MECANUM WHEELS: KINEMATICS AND DYNAMICS MODELLING

Abstract eng:
This contribution summarizes main results concerned with a design of a mobile robot with omnidirectional wheels and the key area covered in this work is kinematics and dynamics modelling of the robot platform. In the introductory part, there are presented main features of omnidirectional wheels and a new conception of a Mecanum-type wheel is introduced. Next sections are focused on a mathematical description – kinematical and dynamical model is then followed by a state-space model of the robot platform. Based on the mathematical description, a simulation model in Matlab/Simulink was created. The simulation results are shown and discussed in the final part of this work. Results in this work were acquired using the subsidization of the Ministry of Education Youth and Sports of the Czech Republic research plan MSM 0021630518 „Simulation modelling of mechatronic systems”.

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